DOOR OPENING AND CLOSING DEVICE

Abstract

Door opening and closing device (10), comprising: a door opening and closing drive unit (12) operable to open and close a door (4) with respect to a vehicle body (2); a detection unit (20A; 20B) configured to detect a plurality of detection objects within a detection area (R1; R2) defined around the door (4); a storage part (30a) configured to store a detection result of the plurality of detection objects detected by the detection unit (20A; 20B); a measuring part (30d) configured to measure a distance from the detection unit (20A; 20B) to the detection object based on the detection result of the detection unit (20A; 20B), wherein distance information of the detection object measured by the measuring part (30d) is stored in the storage part (30a); a determination part (30e) configured to determine whether the detection object present in the detection area (R1; R2) is an object to be detected or an object not to be detected based on a detection result of the detection unit (20A; 20B), the stored information in the storage part (30a), and a change value in the distance of the detection object; and a control unit (30) configured to perform opening / closing control of the door (4) by the door opening and closing drive unit (12), wherein the control unit (30) performs the opening / closing control of the door (4) by the door opening and closing drive unit (12) only when the detection unit (20A; 20B) detects a set movement of the detection object determined by the determination part (30e) as the object to be detected.

Description

Cross-reference to related applications

[0001] This application claims priority to Japanese Patent Application No. 2015-208268, filed on October 22, 2015, the contents of which are incorporated herein by reference. BACKGROUND OF THE INVENTION Technical field of application

[0002] The present invention relates to a door opening and closing device used in a vehicle. State of the art

[0003] A vehicle is equipped with a smart entry system that electrically unlocks a door locking device when a user approaches a door with an electronic key. Japanese patent JP 5 643 129 B2 discloses a door body control device that can automatically open a door even if a user does not touch a door handle—in a situation where it is difficult for the user to touch the door handle, such as when the user is holding luggage or the like with both hands.

[0004] When a distance measuring sensor installed on the door detects the user approaching the door, the door body control device authenticates an electronic key possessed by the user. If the electronic key is authenticated as a legitimate electronic key and a preset movement (operational intent) of the user is detected, the door body control device opens the door.

[0005] German patent application DE 10 2014 110 506 A1 is subsequently published prior art and describes a method for monitoring a door / gate area with a first detection medium and a second detection medium and a computer unit. The computer unit couples a first image of the first detection medium with a second image of the second detection medium. The computer unit takes the location of the first detection medium and the second detection medium into account when coupling the first image of the first detection medium with the second image of the second detection medium. Furthermore, the computer unit generates a three-dimensional image using the locations of the first detection medium (3) and the second detection medium, as well as the first and second images.

[0006] German patent application DE 10 2014 204 911 A1 describes a method for actuating a locking element of a vehicle. A directed movement of an object toward any location within an area is optically detected. Furthermore, an optical marker is generated to locate the location if the directed movement has been previously detected. Furthermore, a movement sequence of the object is recorded, the movement sequence including the directed movement, and the locking element is actuated if the recorded movement sequence satisfies at least one predefined condition.

[0007] US patent application US 2013 / 0 234 844 A1 describes a method and system for warning a door user in a vehicle of unsafe door opening conditions. The system defines a door release zone by identifying the total area traversed by the door when the door is fully swung open. The system modifies the door release zone to define an entry and exit clearance zone. In addition, the system continuously detects any vehicles or objects that are in either the door release zone or the entry and exit clearance zone. For any objects or vehicles that are or may be in either clearance zone, the system provides a visual or audible warning to the user indicating that it is unsafe to open the vehicle door. SUMMARY

[0008] However, the door body control device disclosed in Japanese Patent No. 5643129 B2 detects an obstacle other than the user as a detection object. As a result, there is a possibility that the opening / closing control of a door may be erroneously performed due to the detection of the obstacle. Japanese Patent No. 5643129 does not describe any measure to deal with the case where multiple detection objects are detected. The term "obstacle" includes a movable piece of luggage or the like, as well as a non-movable fixed object (wall) or the like.

[0009] It is an object of the present invention to provide a door opening and closing device that can perform opening / closing control of the door based on a detection result of a plurality of detection objects.

[0010] One aspect of the present invention provides a door opening and closing device comprising: a door opening and closing drive unit operable to open and close a door with respect to a vehicle body; a detection unit configured to detect a plurality of detection objects within a detection range defined around the door; a storage part configured to store a detection result of the plurality of detection objects detected by the detection unit; and a control unit configured to perform opening / closing control of the door by the door opening and closing drive unit based on the detection result of the detection unit and a plurality of stored information stored in the storage part.

[0011] Since the door opening / closing control is performed based on the current detection result and the stored information stored in the memory part, according to the door opening and closing device, it is possible to distinguish between the obstacle whose detection result does not change from the stored information and the user whose detection result changes from the stored information. Consequently, it is possible to prevent erroneous operation caused by the presence of the obstacle, thereby reliably realizing the door opening / closing control based only on the user's movement.

[0012] The door opening and closing device further includes a determination part configured to determine whether the detection object present in the detection range is an object to be detected or an object not to be detected based on a detection result of the detection unit and the information stored in the storage part. The control unit executes the opening / closing control of the door by the door opening and closing drive unit only when the detection unit detects a predetermined movement of the detection object determined by the determination part as the object to be detected. According to this mode, it is possible to reliably and accurately detect a user's operation intention while preventing erroneous operation that may be caused by the obstacle.

[0013] The door opening and closing device further includes a measuring part configured to measure a distance from the detection unit to the detection object based on the detection result of the detection unit. Distance information of the detection object measured by the measuring part is stored in the storage part. The determining part determines whether the detection object is an object to be detected or an object not to be detected based on a change amount in the distance of the detection object. Further, distance information of the plurality of detection objects present within the detection range is stored in the storage part. According to this mode, when an obstacle such as a wall is present within the detection range, it is determined with certainty that the obstacle is an object not to be detected.This means that it is possible to determine with certainty whether the detection object detected by the detection unit is an object to be detected or an object that should not be detected.

[0014] The determination part determines that the detection object in question is an object that should not be detected when a state exists in which a difference between a distance of the detection object measured by the measuring part and the distance information of the detection object stored in the memory is smaller than a set threshold value that is continuously detected. In this case, "is smaller than a set threshold value that is continuously detected" includes a case in which the difference is continuously detected the set number of times and a case in which the difference is continuously detected for a set time. According to this mode, it is possible to determine with certainty whether the detection object detected by the detection unit is an object to be detected or an object that should not be detected.

[0015] The determination part excludes a detection result of the detection object, which the determination part continuously determines as the non-detectable object, and the determination part determines the object to be detected based on the detection result of other detection objects. According to this mode, it is possible to detect the movement of the legitimate object to be detected with high accuracy without causing confusion between the non-detectable object and the object to be detected.

[0016] When the distances of the plurality of detection objects measured by the measuring part do not include distance information of the non-detection object to be excluded, the determination part sets the detection object in question as the object to be detected by excluding the detection object in question from the non-detection object. According to this mode, even if a user is determined as the non-detection object—when the user temporarily stops for some reason—the determination is terminated when the user restarts movement, and thus, erroneous detection of the detection object as the non-detection object can be prevented.

[0017] According to the door opening and closing device of the present invention, even when a plurality of detection objects exist within a detection range, it is possible to distinguish between an obstacle whose detection result does not change from the stored information and a user whose detection results change from the stored information. Consequently, it is possible to reliably implement door opening / closing control based on the user's movement, while preventing erroneous operation caused by the obstacle. SHORT DESCRIPTION OF THE CHARACTERS

[0018] The above and other features of the present invention will become apparent from the following description and the figures of an illustrative embodiment of the invention. They show: Fig. 1 is a side view of a vehicle in a state where a door opening and closing device of a first embodiment is mounted on the vehicle; Fig. 2 is a block diagram showing a configuration of the door opening and closing device; Fig. 3 is a cross-sectional view of the door opening and closing device of the first embodiment; Fig. 4 is another cross-sectional view of the door opening and closing device of the first embodiment; Fig. 5 is a plan view showing a detection range of the door opening and closing device; Fig. 6 is a table showing a method for determining whether a detection object is an obstacle or not; Fig. 7 A is a flowchart showing control executed by a control unit; Fig. 7 B is a flowchart showing steps similar to those in Fig. Follow 7 A; Fig. 8 is a flowchart showing obstacle detection processing in Fig. 7 A shows; Fig. 9 is a flowchart showing exclusion cancellation processing in Fig. 7 A shows; Fig. 10 is a flowchart showing obstacle exclusion processing in Fig. 7 A shows; Fig. 11 is a flowchart showing an approach mode in Fig. 7 B shows; Fig. 12 a flowchart showing a start mode in Fig. 7 B shows; Fig. 13 a flowchart showing a trigger mode in Fig. 7 B shows; Fig. 14 a flowchart showing a back mode in Fig. 7 B shows; Fig. 15 a flowchart showing a first back-exit mode in Fig. 7 B shows; and Fig. 16 a flowchart illustrating a second back-exit mode in Fig. 7 B shows. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] Embodiments of the present invention will be described below with reference to the figures. (First embodiment)

[0020] The Fig. 1 and Fig. 2 shows a vehicle 1 on which a door opening and closing device 10 of a first embodiment is mounted. The door opening and closing device 10 automatically performs opening control or closing control of a door 4 of the vehicle 1 with respect to a vehicle body 2 when a user possessing a specific electronic key (not shown in the figure) performs a predetermined movement without using his / her hand. In this embodiment, a rear door is the openable / closable door 4. However, the openable / closable door 4 may be a door other than the rear door.

[0021] As in Fig. As shown in Figure 2, the vehicle 1 includes a host ECU 5, which controls electronic devices including the door opening and closing device 10. The host ECU 5 also functions as a collection unit that performs key authentication between an electronic key and the vehicle 1 through radio communication. When a user with the electronic key approaches within a set range with respect to the vehicle 1, the host ECU 5 requests the electronic key to transmit an authentication code to the host ECU 5. The host ECU 5 compares the received authentication code from the electronic key with an authorized code registered in the host ECU 5.If the authentication code matches the authorized code, the host ECU 5 outputs a signal to the door opening and closing device 10 to enable the door opening and closing device 10 to perform opening and closing control of the door 4. A function of a collection unit can be transferred to a control unit 30 (described below) of the door opening and closing device 10. (Details of the door opening and closing device)

[0022] The door opening and closing device 10 is arranged at a lower portion of the center of a bumper 3 of the vehicle body 2. The door opening and closing device 10 includes: a door opening and closing drive unit 12 that can open and close the door 4; a pair of distance measuring sensors 20A, 20B that constitute a detection unit; LEDs 28 that constitute visual display units; and the control unit 30 that is a control unit. The door opening and closing drive unit 12 is arranged on the vehicle 1. A circuit board 24, on which the distance measuring sensors 20A, 20B, the LEDs 28, and the control unit 30 are arranged, is housed in a casing 14.

[0023] The door opening and closing drive unit 12 is a mechanism including a drive device (a motor, a gear, a damper, and the like) that can rotate the door 4, which is connected to the vehicle body 2, in the opening and closing directions through a hinge. The door opening and closing drive unit 12 is communicatively connected to the control unit 30. In this embodiment, the door opening and closing drive unit 12 and the control unit 30 are connected to each other via a wired connection using a connecting cable. However, the door opening and closing drive unit 12 and the control unit 30 may be wirelessly connected to each other via radio communication at a predetermined frequency.

[0024] As in the Fig. 3 and Fig. 4, a housing 14 is a box body with one open end and includes a bezel 15 covering an opening side of the housing 14. A fixing part 16 for fixing the housing 14 to the bumper 3 is formed on the bezel 15. Sensor fixing portions 17 having a substantially cylindrical shape and open in the horizontal direction are mounted on the bezel 15. The sensor fixing portions 17, 17 are respectively inclined and open to both outer sides so that axes of the sensor fixing portions 17, 17 are gradually spaced apart from each other. A lens fixing portion 18 having a substantially cylindrical shape and on which a lens 29 is disposed is mounted on the bezel 15. The lens fixing portion 18 is arranged on the bezel 15 such that an axis of the lens fixing portion 18 is inclined downward and outward (rearward).

[0025] The distance measuring sensors 20 A, 20 B are detection units that detect the detection objects around the door 4. These distance measuring sensors 20 A, 20 B are respectively attached to the sensor mounting portions 17, 17 of the panel 15. The distance measuring sensors 20 A, 20 B are communicatively connected to the circuit board 24 via connecting lines. With reference to Fig. 2, the first distance measuring sensor (first detection unit) 20A includes a transmitting part 21A that transmits a radio signal (ultrasonic wave) having a predetermined frequency, and a receiving part 22A that receives a reflected signal (reflected wave) formed by the reflection of the radio signal on the detection object. The second distance measuring sensor (second detection unit) 20B includes a transmitting part 21B having substantially the same configuration as the transmitting part 21A, and a receiving part 22B having substantially the same configuration as the receiving part 22A. In this embodiment, the distance measuring sensor 20A, 20B is formed of an ultrasonic sensor. The distance measuring sensor 20A, 20B may be configured such that the transmitting part 21A, 21B and the receiving part 22A, 22B are arranged individually or independently of each other.Alternatively, the distance measuring sensor 20A, 20B may be configured such that the transmitting part and the receiving part are formed into an integral body, thereby constituting a transmitting / receiving part. A detection object that can be detected by the distance measuring sensor 20A, 20B is an object that can reflect a radio signal and includes an obstacle such as a wall or luggage, not to mention a user who is a driver of a vehicle. In this embodiment, the obstacle includes objects other than a user, such as luggage that can be moved around and is arranged around the vehicle, a structure that exists around the vehicle and cannot be moved (a wall or a pole), other vehicles parked near the vehicle, or the like.

[0026] The circuit board 24 is mounted on the housing 14 such that the circuit board 24 extends in the direction orthogonal to an axis of the lens mounting portion 18. A connector 25 operable to communicatively connect the circuit board 24 to the host ECU 5 and a connector 26 operable to electrically connect the circuit board 24 to a constant-voltage power source are mounted on the circuit board 24. These connectors 25, 26 are mounted on the circuit board 24 such that the connectors 25, 26 are exposed from a bottom of the housing 14 to the outside. A plurality of LEDs 28 (three in this embodiment) and a microcomputer (not shown in the figure) constituting the control unit 30 and the like are mounted on the lens mounting portion 18 side of the circuit board 24.

[0027] The LEDs 28 are optical display units that perform optical display (operation marking) on ​​the ground to guide a user to a set position. Three LEDs 28 are mounted on the circuit board 24 so that these LEDs 28 are located near the axis of the lens mounting portion 18. With such a configuration, these LEDs 28 illuminate the ground as spotlights, so that a user can visually recognize the operation marking even in a state where an area around the vehicle 1 is bright, not to mention in a state where the area around the vehicle 1 is dark. The lens 29 is mounted on the lens mounting portion 18, and the lens 29 converges light from the LEDs 28 and directs a light toward a ground G outside the vehicle body 2. A focal point F of the lens 29 is adjusted so that the focal point F is located at a rear end of the vehicle 1.

[0028] As in Fig. 2, the control unit 30 is a control unit that controls the LEDs 28 based on detection results of the distance measuring sensors 20A, 20B and performs opening and closing drive of the door 4 by controlling the door opening and closing drive unit 12. The control unit 30 includes: a storage part 30a; a display control part 30b; a transmission / reception mode switching part 30c; a measuring part 30d; and a determination part 30e. In this embodiment, a microcomputer part is used as the control unit 30, and the control unit 30 has all the functions of the storage part 30a, the display control part 30b, the transmission / reception mode switching part 30c, the measuring part 30d, and the determination part 30e. However, these parts may be provided individually as control parts.

[0029] A program for controlling the door opening and closing device 10 is stored in the storage part 30a. Setting data, such as threshold values ​​T, used in the program are also stored in the storage part 30a. The detection data (detection results) DA1 to DAn, DB1 to DBn relating to detection objects detected by the distance measuring sensors 20a, 20b are stored in the storage part 30a as distance information. The storage part 30a can store the stored data (stored information) MA1 to MAn and the stored data MB1 to MBn to an amount corresponding to the set number of times (e.g., ten times) of detection, and the data is sequentially deleted from the oldest data.Obstacle data K 1 to K n relating to obstacles determined as objects not to be detected are also stored as stored information in the storage part 30 a.

[0030] The display control section 30b changes the state of the LEDs 28 between a light-on state, a flashing state, and a light-off state. By controlling the state of the LEDs 28 in this way, it is possible to guide a user to move to a set position and, at the same time, to inform a user of the appropriate timing of the movement. A sound can be output along with the illumination of the LEDs 28 as a part of informing the user of the correct timing of the movement.

[0031] The transmission / reception mode switching part 30c changes a transmission / reception mode of the first distance measuring sensor 20A and a transmission / reception mode of the second distance measuring sensor 20B. More specifically, the transmission / reception mode switching part 30c switches a transmission / reception function of the first distance measuring sensor 20A and a transmission / reception function of the second distance measuring sensor 20B between a first transmission / reception mode and a second transmission / reception mode. In the first transmission / reception mode, the transmission part 21A, 21B and the reception part 22A, 22B are operated simultaneously by the first distance measuring sensor 20A and the second distance measuring sensor 20B.In the second transmission / reception mode, only the transmission part 21A, 21B is driven in one of the first distance measuring sensor 20A and the second distance measuring sensor 20B, and only the reception part 22A, 22B is driven in the other of the first distance measuring sensor 20A and the second distance measuring sensor 20B. Further, in the second transmission / reception mode, a transmission / reception function of the first distance measuring sensor 20A and a transmission / reception function of the second distance measuring sensor 20B are alternately switched.That is, a first state in which a radio signal is output from the transmitting part 21A of the first distance measuring sensor 20A and a reflection signal is received from the receiving part 22B of the second distance measuring sensor 20B, and a second state in which a radio signal is output from the transmitting part 21B of the second distance measuring sensor 20B and a reflection signal is received from the receiving part 22A of the first distance measuring sensor 20A are alternately switched.

[0032] The measuring part 30d measures distances from the first distance measuring sensor 20A to detection objects based on the detection results DA1 to DAn of the first distance measuring sensor 20A, and also measures distances from the second distance measuring sensor 20B to the detection objects based on the detection result DB1 to DBn of the second distance measuring sensor 20B. In this embodiment, the distance measuring sensor 20A, 20B can measure (determine) a distance from the distance measuring sensor 20A, 20B to each detection object based on a time elapsed from a time when a radio signal is output from the transmitting part 21A, 21B to a time when a reflection signal is input to the receiving part 22A, 22B.When a distance from the distance measuring sensor 20A, 20B to each detection object is short, a time elapsed from the transmission of a signal to the reception of a signal is short compared to a case where a distance from the distance measuring sensor 20A, 20B to each detection object is large. In this way, by measuring a time corresponding to a distance, the distance from the distance measuring sensors 20A, 20B to each detection object can be measured.

[0033] Based on detection results (measurement results of the measuring part 30d) DA1 to DAn, DB1 to DBn of the distance measuring sensors 20A, 20B, the determination part 30e determines whether detection objects are present or not. Furthermore, it is determined whether the detected detection objects are objects to be detected or objects that should not be detected based on the detection results DA1 to DAn, DB1 to DBn of the distance measuring sensors 20A, 20B and the information MA1 to MAn, MB1 to MBn stored in the storage part 30a.

[0034] Herein, the detailed description will be made regarding the determination of whether detected detection objects are objects to be detected or objects not to be detected. Based on the current detection results DA 1 to DA n, DB 1 to DB n obtained by the distance measuring sensors 20 A, 20 B and the most recently stored information MA 1 to MA n, MB 1 to MB n (obtained in the last detection operation) stored in the storage part 30 A, the determination part 30 E calculates a change value of a distance with respect to all the measured detection objects. The determination part 30 E determines whether the detection object is an object to be detected or an object not to be detected based on whether a change value of a distance is equal to or smaller than a threshold value T 1 (for example, 2 cm).The determination part 30 e performs a comparison between the detection results DA 1 to DA n, DB 1 to DB n and the stored information MA 1 to MA n, MB 1 to MB n for the respective distance measuring sensors 20 A, 20 B. Further, the determination part 30 e performs a comparison in such a manner that each of the detection results DA 1 to DA n, DB 1 to DB n is compared with all the stored information MA 1 to MA n, MB 1 to MB n on a one-to-one basis, and the determination part 30 e determines that a detection object is an object not to be detected when data agree with each other, that is, when the detection result agrees with the stored information.

[0035] For example, as in Fig. 6, the first distance measuring sensor 20A receives three reflection signals and measures a first detection result DA1 (50 cm), a second detection result DA2 (80 cm), and a third detection result DA3 (100 cm) by the measuring part 30d. Similarly, the second distance measuring sensor 20B receives three reflection signals and measures a first detection result DB1 (55 cm), a second detection result DB2 (75 cm), and a third detection result (100 cm) by the measuring part 30d. In the storage part 30a, first stored information MA1 (51 cm), second stored information MA2 (99 cm), and third stored information MA3 (115 cm) are stored, which are the latest detection results of the first distance measuring sensor 20A.Similarly, in the storage part 30a, the first stored information MB1 (54 cm), the second stored information MB2 (101 cm) and the third stored information MB3 (120 cm) are stored, which are the latest detection results of the second distance measuring sensor 20B.

[0036] When comparing the first detection result DA 1 of the first distance measuring sensor 20 A with the information MA 1 to MA 3 stored in the storage part 30 A, a change value of the first detection result DA 1 to the stored information MA 1 is equal to or less than the threshold value T 1 , so it is understood that there is no change in the distance (position) of the detection object. Next, when comparing the second detection result DA 2 with the stored information MA 1 to MA 3, a change value of the second detection result DA 2 is greater than the threshold value T 1 with respect to all the stored information MA 1 to MA 3, so it is understood that the position of the detection object has changed.Next, when comparing the third detection result DA 3 with the stored information MA 1 to MA 3, a change value of the third detection result DA 3 from the stored information MA 2 is equal to or smaller than the threshold value T 1, so that it is understood that there is no change in the position of the detection object.

[0037] Similarly, when comparing the first detection result DB 1 of the second distance measuring sensor 20 B with the stored information MB 1 to MB 3 in the storage part 30 a, a change value of the first detection result DB 1 from the stored information MB 1 is equal to or less than the threshold value T 1 , so it is understood that there is no change in the position of the detection object. Next, when comparing the second detection result DB 2 with the stored information MB 1 to MB 3, a change value of the second detection result DB 2 is greater than the threshold value T 1 with respect to all the stored information MB 1 to MB 3 , so it is understood that the position of the detection object has changed.Next, when comparing the third detection result DB 3 with the stored information MB 1 to MB 3, a change value of the third detection result DB 3 from the stored information MB 2 is equal to or smaller than the threshold value T 1, so that it is understood that there is no change in the position of the detection object.

[0038] From these results, it can be determined that the detection objects with the detection results DA 1, DA 3 that substantially match the stored information MA 1, MA 2 are non-detectable objects such as obstacles. It can also be determined that the detection object with the detection result DA 2 that does not match the stored information MA 1 to MA 3 is an object to be detected that is a moving body, including a user, and has moved from the position of 115 cm to the position of 80 cm. Similarly, it can be determined that the detection object with the detection results DB 1, DB 3 that substantially match the stored information MB 1, MB 2 is an object that should not be detected.It can also be determined that the detection object with the detection result DB 2 that does not match the stored information MB 1 to MB 3 is an object to be detected and has moved from the position of 120 cm to the position of 75 cm.

[0039] As in the case of an example given in Fig. 6, the obstacle detection results DA 1 , DA 3 measured by the distance measuring sensor 20 A and the obstacle detection results DB 1 , DB 3 measured by the distance measuring sensor 20 B are relevant. However, in this embodiment, the detection results DA 1 to DA n measured by the first distance measuring sensor 20 A and the detection results DB 1 to DB n measured by the second distance measuring sensor 20 B are not related to each other, and the detection results DA 1 to DA n and the detection results DB 1 to DB n are used independently of each other for determining whether a detection object is an object to be detected or an object not to be detected. The reason is as follows.There is a case where an obstacle (an object not to be detected) exists within one detection area at a position that can be detected by one of the distance measuring sensors 20A, 20B, and a user (object to be detected) exists within the other detection area at the same distance position as the obstacle. In such a case, there is a possibility that the sensor may mistakenly detect the user as the obstacle. That is, as described later, the detection results DA1 to DAn, DB1 to DBn related to the user—who is an object to be detected and obtained by the distance measuring sensors 20A, 20B—are detected in an operation area 34 in which both the first distance measuring sensor 20A and the second distance measuring sensor 20B can detect a detection object.Consequently, the detection results DA 1 to DA n and the detection results DB 1 to DB n substantially agree. However, if the obstacle is in a stopped state in the operating area 34 for some reason, the obstacle exists with the detection results DA 1 to DA n, DB 1 to DB n either within the detection range of the first distance measuring sensor 20 A or the detection range of the second distance measuring sensor 20 B.

[0040] Next, with reference to Fig. 5 describes the setting of detection ranges of the distance measuring sensors 20 A, 20 B and a control performed by the control unit 30. (Details on the coverage area)

[0041] As in Fig. 5, the transmission parts 21 A, 21 B of the distance measuring sensors 20 A, 20 B transmit radio signals so that the radio signals propagate radially. With reference to Fig. 3, the transmission parts 21A, 21B are attached to the vehicle body 2 via the housing 14. The transmission parts 21A, 21B are arranged so that radio signals are output along the output centers C1, C2 of the radio signals extending in the horizontal direction from the vehicle body 2. The horizontal direction means a direction extending along the ground G on which a vehicle is parked. Also with reference to Fig. 4, the transmission parts 21A, 21B are arranged so that the output centers C1, C2 of the radio signals do not overlap with each other. That is, the output centers C1, C2 extend to both outer sides in an inclined manner in the directions such that the output centers C1, C2 gradually move away from each other. With such a configuration, the respective distance measuring sensors 20A, 20B can perform both the detection of a detection object at a great distance from the vehicle body 2 and the detection of a detection object at a short distance, close to the vehicle body 2.

[0042] Conical output areas formed by radio signals emitted by the transmission part 21 A, 21 B define detection areas R 1, R 2 of the distance measuring sensor 20 A, 20 B. The output center C 1 of the radio signal transmitted by the transmission part 21 A is a first detection center axis of the first detection area R 1 of the first distance measuring sensor 20 A. The output center C 2 of the radio signal transmitted by the transmission part 21 B is a second detection center axis of the second detection area R 2 of the second distance measuring sensor 20 B. The distance measuring sensors 20 A, 20 B are arranged such that a section of the detection area R 1 of the first distance measuring sensor 20 A on a middle side of the vehicle body 2 and a section of the detection area R 2 of the second distance measuring sensor 20 B on a middle side of the vehicle body 2 overlap.An area in which the detection area R 1 and the detection area R 2 overlap each other forms an operation area 34 in which both the first distance measuring sensor 20 A and the second distance measuring sensor 20 B can detect detection objects.

[0043] In the entire area of ​​the pair of detection areas R1, R2, including the operation area 34, detection objects are detected by the first distance measuring sensor 20A or the second distance measuring sensor 20B. Consequently, the area defines an approach area 32 in which the authentication of the key is started. In the approach area 32, in a first zone 32a, which is formed by excluding the operation area 34 from the detection area R1, only the first distance measuring sensor 20A can detect the detection object. In the second zone 32b, which is formed by excluding the operation area 34 from the detection area R2, only the second distance measuring sensor 20B can detect a detection object.

[0044] The operation area 34 is divided into two or more operation detection sub-zones depending on a distance from the distance measuring sensors 20A, 20B. More specifically, the operation area 34 includes a trigger sub-zone 35, which is a first operation detection sub-zone closest to the vehicle body 2, and a start sub-zone 36, which is a second operation detection sub-zone positioned farther from the vehicle body 2 than the trigger sub-zone 35. The start sub-zone 36 is further divided into a first section 36a, located on a side close to the distance measuring sensors 20A, 20B, and a second section 36b, located on a side distant from the distance measuring sensors 20A, 20B.

[0045] The trigger sub-zone 35 is a zone in which the distance measuring sensors 20A, 20B detect a state in which a user, who is a detection object, approaches the vehicle body 2. For example, the trigger sub-zone 35 is set as a range between the position 20 cm away from the vehicle body 2 and the position 40 cm away from the vehicle body 2.

[0046] The starting subzone 36 is a zone in which the door 4 would not significantly hit a user, even if the door 4 is opened and closed. The starting subzone 36 ranges between a position 120 cm away from the vehicle body 2 and a position 50 cm away from the vehicle body 2, for example. The first section 36a essentially forms a front half of the starting subzone 36. For example, the first section 36a ranges between a position 50 cm away from the vehicle body 2 and a position 80 cm away from the vehicle body 2. In the first section 36a, depending on a user's height or posture, there still remains a possibility that the door 4 will hit the user when the door 4 is opened or closed. The second section 36b essentially forms a rear half of the starting subzone 36.For example, the second section 36b extends from the position 80 cm away from the vehicle body 2 to the position 120 cm away from the vehicle body 2. In the second section 36b, regardless of a user's height or posture, there is no possibility of the door 4 hitting a user even when the door 4 is opened or closed.

[0047] A first non-operation sub-zone 37 is set in the operation area 34 on one side of the vehicle body 2 of the trigger sub-zone 35. As in Fig. 3, the first non-operational subzone 37 is set too close to the distance measuring sensors 20A, 20B, so that a portion of the first non-operational subzone 37 on one side of the floor G lies outside the detection areas R1, R2. Accordingly, the first non-operational subzone 37 is excluded from the operation detection subzone. A second non-operational subzone 38 having a predetermined width is defined between the trigger subzone 35 and the start subzone 36. The second non-operational subzone 38 is a space for ensuring whether or not a detection object exists in either the trigger subzone 35 or the start subzone 36.

[0048] The determination part 30e can determine that a detection object is present in the first zone 32a when only the first distance measuring sensor 20A receives reflection signals. The determination part 30e can determine that a detection object is present in the second zone 32b when only the second distance measuring sensor 20B receives reflection signals. Furthermore, the determination part 30e can determine that a detection object is present in the operation area 34 when both the first distance measuring sensor 20A and the second distance measuring sensor 20B receive reflection signals. As described above, the measuring part 30d can measure a distance from the vehicle body to a detection object based on a time elapsed from the transmission of a radio signal to the reception of a reflection signal.Accordingly, the determining part 30 e can determine the sub-zone among the sub-zones 35 to 38 of the operating area 34 in which a detection object exists, based on a distance measured by the measuring part 30 d.

[0049] As described above, in this embodiment, by overlapping a portion of the first detection area R1 of the first distance measuring sensor 20A and a portion of the second detection area R2 of the second distance measuring sensor 20B, a predetermined operation area having a fixed width direction can be set without using a special device. Consequently, it is possible to reliably detect a user's operation intention with high accuracy, and therefore erroneous detection can be securely prevented. Furthermore, the respective distance measuring sensors 20A, 20B are arranged so that the detection center axes C1, C2 do not overlap, that is, the detection center axes C1, C2 respectively extend obliquely outward from each other. Accordingly, the distance measuring sensors 20A, 20B can be easily mounted on the housing 14.

[0050] The plurality of operation detection zones 35, 36 are set according to the distances from the distance measuring sensors 20A, 20B. Accordingly, only a detection object (user) moving from a specified direction, passing through the plurality of operation detection zones 35, 36, is recognized as a legitimate operation intention. With such a configuration, it is possible to prevent erroneous operation caused by the intrusion of an animal or foreign substance into the operation zone from the transverse direction, or the approach of a third party who is unfamiliar with the operation method.

[0051] The distance measuring sensor 20A, 20B detects a detection object upon receiving a reflection signal of a radio signal output in the horizontal direction. Accordingly, there is no possibility that the distance measuring sensor 20A, 20B receives a reflection signal from an element such as a floor that is located a short distance from a vehicle and does not have a fixed height. Furthermore, the distance measuring sensors 20A, 20B are mounted on the vehicle body 2, and therefore, the same reference (distance) is used in detecting a detection object in the case where opening control of the door 4 is performed and in the case where closing control of the door 4 is performed. Accordingly, erroneous detection, which may be caused by the detection unit, can be reliably prevented, and therefore, it is possible to quickly detect a user's operation intention with high accuracy. (Details of the control performed by the control unit)

[0052] Upon detecting the detection objects present within the approach area 32, excluding the trigger sub-zone 35, the control unit 30 switches the transmission / reception functions of the distance measuring sensors 20A, 20B to a first transmission / reception mode by the transmission / reception mode switching 30c. Upon detecting a detection object present in the trigger sub-zone 35, the control unit 30 switches the transmission / reception functions of the distance measuring sensors 20A, 20B to a second transmission / reception mode by the transmission / reception mode switching 30c. That is, it is assumed that the detection of a detection object by the distance measuring sensors 20A, 20B is performed in the first transmission / reception mode.In such a case, when the detection object is present in the trigger sub-zone 35, reflection signals are input to the receiving parts 22A, 22B in a state where radio signals are output from the transmitting parts 21A, 21B. Accordingly, the radio signals output from the transmitting parts 21A, 21B and the reflection signals interfere with each other, so that the receiving parts 22A, 22B cannot distinguish the radio signals and the reflection signals from each other. For this reason, a distance from the vehicle body to a detection object is erroneously detected or cannot be measured.In view of the above, when detecting a detection object located near the vehicle body and present in the trigger sub-zone 35, by switching the transmission / reception functions of the distance measuring sensors 20A, 20B to a second transmission / reception mode, it is possible to prevent a state in which a distance is erroneously detected or cannot be measured. Furthermore, when detecting a detection object located at a long distance and present outside the trigger sub-zone 35, by switching the transmission / reception functions of the distance measuring sensors 20A, 20B to the first transmission / reception mode, the detection object can be reliably detected with high accuracy.

[0053] Upon detecting a state where detection objects—including a user and obstacles—exist within the approach area 32, the control unit 30 starts authentication of an electronic key. When the electronic key is authenticated as a legitimate electronic key and a user enters the start sub-zone 36, the control unit 30 drives the LEDs 28 in a flashing manner via the display control section 30b, thus displaying an operation mark in a flashing manner on a floor as a spotlight. Accordingly, a user moves to the trigger sub-zone 35 while being guided by the spotlight. An irradiation position I in which the operation mark is generated by the LEDs 28 is set in the first non-operation sub-zone 37.In this way, the operation mark allows the user to enter the trigger sub-zone 35 by stepping on the operation mark with his / her foot. That is, although an operation of the user stepping on the operation mark indicated by the LEDs 28 on the floor is detected, in an actual operation, the user's body (a part of the user's body near his / her shin, for example) is detected when the user appears on the display. In this way, the user's entry into the trigger sub-zone 35 is recognized as an operation intention of the user, and thus the user's operation intention can be reliably detected without erroneous detection.

[0054] When a user enters the trigger sub-zone 35 and passes through the start sub-zone 36, the control unit 30 operates the LEDs 28 in a flashing manner via the display control section 30b, thus displaying an operation mark in a flashing manner on a floor as a spotlight. In this way, the operation mark prompts the user to perform an operation to start an opening control or a closing control of the door 4. That is, when performing an opening control of the door 4, the control unit 30 operates the LEDs 28 in a flashing manner and remains so—until the user moves from the trigger sub-zone 35 to the start sub-zone 36—according to the operation mark displayed in a flashing manner on the floor.Then, upon detecting a state in which the user has returned to the starting sub-zone 36, the control unit 30 controls the door opening and closing drive unit 12 to open the door 4. Even when performing a closing control of the door 4, the control unit 30, in the same manner as in the opening control, operates the LEDs 28 in a flashing manner and remains in a waiting state until the user returns to the first section 36a of the starting sub-zone 36 according to the operation mark displayed in a flashing manner on the floor. If the control continues to be executed, even after the user returns to the first section 36a, the control unit 30 remains in a state in which the operation mark is displayed in a flashing manner until the user returns to the second section 36b.Then, upon detecting a state in which the user has moved back to the second section 36 b, the control unit 30 controls the door opening and closing drive unit 12 to close the door 4.

[0055] As described above, in this embodiment, by displaying the operation mark in a flashing manner on the floor by driving the LED 28 in a flashing manner, it is possible to enable a user to easily recognize an operation method and operation timing, and therefore, operability and convenience for the user can be improved. Furthermore, when an electronic key is authenticated and a user enters the operation area, the LEDs 28 are operated in a flashing manner, and the operation mark is displayed flashing on the floor by a spotlight. Consequently, even if a third party who does not have the electronic key enters the operation area, the LEDs 28 are not turned on or flashed, and therefore, it is possible to prevent wasteful power consumption of a battery.

[0056] In the obstacle detection processing, the exclusion cancellation processing, the obstacle exclusion processing, and an approach mode, which will be described later, the processing is advanced to a next step by the control unit 30 based on only one of the detection results DA 1 to DA n of the distance measuring sensor 20 A and the detection results DB 1 to DB n of the distance measuring sensors 20 B. However, in the processing of a start mode, a trigger mode, a return mode, a return completion mode 1, and a return completion mode 2, which are concrete operations for the opening / closing control of the door 4, the processing is advanced to the next step by the control unit 30 under the condition that both the detection results DA 1 to DA n of the distance measuring sensor 20 A and the detection results DB 1 to DB n of the distance measuring sensors 20 B are acquired.For example, upon detection of a detection object present in the trigger subzone 35, the distance measuring sensors 20A, 20B operate in a second transmission / reception mode. In this case, the control unit 30 determines whether or not to proceed to the next step based on both the detection results DA1 to DAn of the distance measuring sensor 20A and the detection results DB1 to DBn of the distance measuring sensors 20B.

[0057] During such process controls, the controller 30 determines whether a detection result of a detection object is a detection result of a user who is an object to be detected or a detection result of an obstacle that is an object not to be recognized, based on information MA 1 to MA n, MB 1 to MB n stored in the storage part 30 a. More specifically, with respect to a detection object whose detection result is determined by the determination part 30 e that no change in moving distance occurs continuously the set number of times, the controller 30 stores distance information related to such a detection object in the storage part 30 a as obstacle information K 1 to K n.Then, the obstacle information K 1 to K n is excluded from the detection results DA 1 to DA n, DB 1 to DB n obtained by the distance measuring sensors 20 A, 20 B, and corresponding controls are performed only based on the detection results of other objects to be detected. Since the detection of the detection object corresponding to the distance information stored in the storage part 30 a as obstacle information K 1 to K n continues per se when there are no detection results DA 1 to DA n, DB 1 to DB n corresponding to the non-detection of the obstacle information K 1 to K n, the used obstacle information K 1 to K n is deleted from the storage part 30 a.

[0058] As described above, in this embodiment, based on the current detection results DA 1 to DA n, DB 1 to DB n and the most recently stored information MA 1 to MA n, MB 1 to MB n among the detection objects undergoing detection, it is possible to detect obstacles whose detection results DA 1 to DA n, DB 1 to DB n do not change and to detect a user whose detection results DA 1 to DA n, DB 1 to DB n differ from each other. Consequently, it is possible to prevent a state in which the control unit 30 is erroneously operated due to the presence of an obstacle, thereby erroneously performing opening / closing control of the door 4, and therefore, opening / closing control of the door 4 can be realized with certainty by accurately determining the movement of a user.The control unit 30 performs opening / closing control of the door 4 only when the determination part 30e detects a predetermined movement of a detection object determined as an object to be detected. Accordingly, it is possible to reliably and accurately detect a user's operation intention while preventing erroneous operation that may be caused by an animal or an obstacle other than the user.

[0059] Next, a control operation performed by the control unit 30 will be specifically described with reference to the Fig. 7A to 16. An opening / closing control of the door 4 is started when the vehicle 1 is parked and an engine is stopped. (General procedure)

[0060] As in Fig. 7A, when the engine of the vehicle 1 is stopped, the control unit 30 performs initialization in step S1 and stands by until reaching a detection time for the distance measuring sensors 20A, 20B in step S2. Here, the detection time differs between a case where a detection object determined as an object to be detected is present within the approaching area 32 and a case where a detection object determined as an object to be detected is not present within the approaching area 32. When the detection object is present in the approaching area 32, the detection time is set shorter than the detection time in the case where the detection object is not present within the approaching area 32. For example, detection is performed every 0.5 seconds when a detection object that is an object to be detected is not present within the approaching area 32.On the other hand, when a detection object, which is an object to be detected, is present within the approach area 32, the detection is performed every 0.05 seconds.

[0061] When a time counted by a built-in timer of the control unit 30 reaches the detection time, in step S3, radio signals are output from both or one of the transmitting parts 21A, 21B of the distance measuring sensors 20A, 20B in accordance with the command from the transmitting / receiving mode switching part 30c. Then, in step S4, both or the other of the receiving parts 22A, 22B of the distance measuring sensors 20A, 20B receive reflection signals.

[0062] Next, in step S5, obstacle detection processing is performed in which the presence or absence of obstacles in detected detection objects is determined and the results are stored as obstacle information K1 to Kn. Then, in step S6, exclusion cancellation processing is performed in which specified obstacle information K1 to Kn is excluded from the stored obstacle information K1 to Kn, and excluded information is included in (returned to) information related to the object to be detected. Then, in step S7, obstacle exclusion processing is performed in which only data related to the object to be detected is set as an object to be determined by excluding detection results DA1 to DAn, DB1 to DBn that match the obstacle information K1 to Kn. Then, as in Fig. 7 B, the control unit 30 executes control operations corresponding to the respective situations.

[0063] That is, in step S8, the control unit 30 determines whether an approach mode is set or not. If the approach mode is set, the processing proceeds to step S9, and the approach mode is performed. Then, the processing returns to step S2 in Fig. 7 A. Processing proceeds to step S 10 if the approach mode is not set.

[0064] In step S10, the control unit 30 determines whether a start mode is set or not. If the start mode is set, the processing proceeds to step S11, and the start mode is executed. Then, the processing returns to step S2 in Fig. 7 A. Processing proceeds to step S 12 if the start mode is not set.

[0065] In step S12, the control unit 30 determines whether a trigger mode is set or not. If the trigger mode is set, the processing proceeds to step S13, and the trigger mode is executed. Then, the processing returns to step S2 in Fig. 7 A. Processing proceeds to step S 14 if the trigger mode is not set.

[0066] In step S14, the control unit 30 determines whether a return mode is set or not. If the return mode is set, the processing proceeds to step S15, and the return mode is performed. Then, the processing returns to step S2 in Fig. 7 A. Processing proceeds to step S 16 if the back mode is not set.

[0067] In step S16, the controller 30 determines whether a first back-end mode is set or not. If the first back-end mode is set, the processing proceeds to step S17, and the first back-end mode is executed. Then, the processing returns to step S2 in Fig. 7A. The processing proceeds to step S18 if the first back-exit mode is not set.

[0068] In step S18, the controller 30 determines whether a second back-end mode is set or not. If the second back-end mode is set, the processing proceeds to step S19, and the second back-end mode is executed. Then, the processing returns to step S2 in Fig. 7 A. The processing proceeds to step S 20 if the second back-exit mode is not set.

[0069] Step S20 is performed when detection objects including a user enter the approach area 32 in a state where obstacles present in the approach area 32 have not yet been determined, or in a state where the respective modes are not set. That is, in the case where the controller 30 determines that all detection objects that can be detected by the distance measuring sensors 20A, 20B are obstacles, when a detection object other than obstacles is detected in the approach area 32 in a state where none of the modes in step S8 to step S19 is set, the processing proceeds to step S21. Then, the approach mode is set, and the processing returns to step S2 in Fig. 7 A. (Obstacle detection processing)

[0070] As in Fig. 8, in the obstacle detection processing performed in step S5, the control unit 30 compares individual detection results D (DA1 to DAn, DB1 to DBn) with all stored information M (MA1 to MAn, MB1 to MBn) and stores specific detection results D as obstacle information K.

[0071] More specifically, in step S5-1, calculation is performed to determine whether an absolute value of a numerical value obtained by subtracting the stored information M detected last time from the detection result D is smaller than a threshold T1 (for example, 2 cm). If the absolute value is smaller than the threshold T1, that is, if the detection object has not moved, processing proceeds to step S5-2, and a counter Na representing the number of times a detection object has been determined to be an obstacle is incremented by 1.

[0072] Next, in step S5-3, the control unit 30 determines whether the counter Na is greater than 4 or not. The processing proceeds to step S5-4 when the counter Na is greater than 4, and the processing proceeds to step S5-6 when the counter Na is equal to or less than 4. In step S5-4, the stored information M (detection result D), where the number of times - which is an absolute value of a numerical value obtained by subtracting the stored information M from the detection result D is smaller than the threshold value T1 - is greater than the set number of times stored in the storage part 30a as obstacle information K, and then the processing proceeds to step S5-6.

[0073] On the other hand, when the absolute value of the numerical value obtained by subtracting the stored information M from the detection result D is equal to or greater than the threshold value T 1 in step S 5-1, the counter Na of the subjected detection result D is cleared (set to 0) in step S 5-5, and the processing proceeds to step S 5-6.

[0074] In this way, when all comparisons between the current detection results D (DA 1 to DA n, DB 1 to DB n) and the stored information M (MA 1 to MA n, MB 1 to MB n) detected last time are finished, the detection result D is updated and stored in the storage part 30 a as the stored information M in step S 5-6, and then the processing returns to the general flow in the Fig. 7 A and Fig. 7 B back.

[0075] When the determination part 30e continuously detects a state where the difference between a detection result (distance) D of a detection object and stored information (distance information) M is smaller than a set threshold T1 the predetermined number of times, the determination part 30e determines that the subject detection object is an object not to be detected. Accordingly, it is possible to determine with certainty whether a detected detection object is an object to be detected or an object not to be detected, and at the same time, it is possible to prevent a state where an object to be detected is erroneously determined as an object not to be detected. (Exclusion cancellation processing)

[0076] As in Fig. As shown in Fig. 9, in the exclusion cancellation processing performed in step S6, the controller 30 compares individual obstacle information K (K1 to Kn) with all detection results D (DA1 to DAn, DB1 to DBn). Then, the presence or absence of the detection results D that match the obstacle information K is detected. If there is no detection result D that matches the obstacle information K, the subject obstacle information K is excluded, and the detection result D is returned to a detection result related to an object to be detected.

[0077] More specifically, in step S6-1, calculation is performed to determine whether an absolute value of a numerical value obtained by subtracting a detection result D from the obstacle information K is smaller than a threshold value T2 (e.g., 2 cm). If the absolute value is larger than the threshold value T2, that is, the detection result D of the detection object and the stored obstacle information K are not substantially equal, the processing proceeds to step S6-2. On the other hand, if the detection result D and the obstacle information K are substantially equal, the processing skips step S6-2 to step S6-4 and returns to the general flow.

[0078] If there is no detection result D that matches the obstacle information K in step S6-2, a counter Nb representing the number of times it is determined that there is no obstacle is incremented by 1. Then, in step S6-3, detection is performed to determine whether or not the counter Nb is greater than 2. If the control unit 30 determines that the counter Nb is greater than 2, the processing proceeds to step S6-4. On the other hand, if the control unit 30 determines that the counter Nb is equal to or less than 2, the processing skips step S6-4 and returns to the general flow. In step S6-4, the obstacle information K by which it is determined that there is no obstacle is deleted from the storage part 30a, so that the exclusion of the obstacle information K from the detection result D of the detection object is canceled, and the processing returns to the general flow.

[0079] As described above, when the measurement results D of detection objects do not contain obstacle information K to be excluded, the subject detection object is set as an object to be detected. Thus, even if a user is determined as an object not to be detected when the user temporarily stops for some reason, the determination is canceled when the user restarts movement. Accordingly, erroneous detection of the object not to be detected can be prevented. (Obstacle exclusion processing)

[0080] As in Fig. 10, in the obstacle exclusion processing performed in step S7, the controller 30 compares individual obstacle information (K1 to Kn) with all detection results D (DA1 to DAn, DB1 to DBn) and excludes the detection results D that substantially agree with the obstacle information K from the obstacle information (K1 to Kn).

[0081] Specifically, in step S7-1, calculation is performed to determine whether an absolute value of a numerical value obtained by subtracting the detection result D from the obstacle information K is smaller than a threshold value T3 (for example, 2 cm). If the absolute value is smaller than the threshold value T3, the processing proceeds to step S7-2, and the subject detection result D is excluded (= 0), and the processing returns to the general flow. On the other hand, if the absolute value is equal to or greater than the threshold value T3, the processing skips step S7-2 and returns to the general flow.

[0082] As described above, the detection result D of a detection object continuously determined as an object not to be detected is excluded, and an object to be detected is determined based on the detection results D of other detection objects. Accordingly, it is possible to increase a speed required to perform the determination, and therefore, the movement of a legitimate object to be detected can be detected with high accuracy. (Approach mode)

[0083] As in Fig. 11, in the approach mode executed in step S9, the control unit 30 starts the authentication of an electronic key when a detection object (including a user) other than obstacles enters the approach area 32.

[0084] That is, in step S9-1, the controller 30 determines whether or not detection objects, excluding obstacles, enter the approach area 32. If no detection objects enter the approach area 32, the processing proceeds to step S9-2, the approach mode is cleared, and a counter Nc representing the number of times detection objects are determined to enter the approach area 32 is cleared. Then, the processing returns to the general flow. On the other hand, if there is an entry of the detection objects into the approach area 32, the processing proceeds to step S9-3.

[0085] The counter Nc is incremented by 1 in step S9-3, and then the control unit 30 determines whether or not the counter Nc is greater than 2 in step S9-4. If the counter Nc is greater than 2, the processing proceeds to step S9-5. On the other hand, if the counter Nc is equal to or less than 2, the processing skips step S9-5 and step S9-6 and returns to the general flow.

[0086] In step S9-5, the controller 30 outputs a smart entry authentication request signal to the host ECU 5. Upon receiving such a signal, the host ECU 5 requests the electronic key to transmit an authentication code to the host ECU 5 and compares the authentication code received by the host ECU 5 with an authorized code registered in the host ECU 5. Next, in step S9-6, the approach mode is cleared, the counter Nc is cleared, and a start mode is set, and then processing returns to the general flow.

[0087] As described above, before detecting a user's operation intention in the operation zone 34, the user's approach is detected by detecting the detection object in the approach area 32, and key authentication is performed. Accordingly, detection of a user's operation intention can be performed quickly, and therefore, user convenience can be improved. (Start mode)

[0088] As in Fig. 12, in the start mode performed in step S11, when an electronic key is authenticated as a legitimate electronic key and a user is positioned in the start subzone 36, the controller 30 prompts a user to perform an operation to open or close a door.

[0089] That is, in step S11-1, the controller 30 confirms whether the smart entry authentication is performed normally based on the receipt of a signal output from the host ECU 5. If the electronic key is authenticated normally, the processing proceeds to step S11-2. On the other hand, if the electronic key is not authenticated normally, the processing proceeds to step S11-5.

[0090] In step S 11-2, the control unit 30 reads whether the door 4 is in an open state or a closed state based on a signal output from the door opening and closing drive unit 12. Then, in step S 11-3, the control unit 30 determines whether a detection object is positioned within the start sub-zone 36 or not (for example, P 1 in Fig. 5). If the detection object exists within the starting sub-zone 36, processing proceeds to step S11-4. On the other hand, if the detection object does not exist within the starting sub-zone 36, processing proceeds to step S11-8.

[0091] In step S11-4, the LEDs 28 flash by the display control section 30b, a transmission / reception mode of the distance measuring sensor 20A, 20B is switched to a second transmission / reception mode by the transmission / reception mode switching part, and the start mode is cleared. Furthermore, a counter Nd representing the number of times the smart entry authentication is rejected is cleared. A counter Ne representing the number of times a detection object cannot be detected in the start sub-zone 36 is cleared. The trigger mode is set. Then, the processing returns to the general flow.

[0092] If the smart entry authentication is rejected in step S11-1, the counter Nd is incremented by 1 in step S11-5, and then the control unit 30 determines whether the counter Nd is greater than 3 or not in step S11-6. If the counter Nd is greater than 3, processing proceeds to step S11-7, where the startup mode is cleared and the counters Nd, Ne are cleared. Then, processing returns to the general flow. On the other hand, if the counter Nd is equal to or less than 3, processing skips step S11-7 and returns to the general flow.

[0093] If a detection object cannot be detected in the start sub-zone 36 in step S11-3, the counter Ne is incremented by 1 in step S11-8, and then the control unit 30 determines whether the counter Ne is greater than 20 or not in step S11-9. If the counter Ne is greater than 20, processing proceeds to step S11-10, where the start mode is canceled and the counters Nd, Ne are cleared. Then, processing returns to the general flow. On the other hand, if the counter Ne is less than 20, processing skips process step S11-10 and returns to the general flow. (Trigger mode)

[0094] As in Fig. 13, in the trigger mode performed in step S 13, the control unit 30 prompts a user to execute an operation for starting an opening control or a closing control of the door 4 when the user is positioned within the trigger sub-zone 35.

[0095] That is, in step S13-1, the control unit 30 determines whether or not a detection object has entered the trigger sub-zone 35 (for example, at P2 in Fig. 5). If the detection object has entered the trigger sub-zone 35, the processing proceeds to step S13-2, where the LEDs 28 are turned on, and the trigger mode is cleared. Further, a counter Nf representing the number of times a detection object cannot be detected in the trigger sub-zone 35 is cleared. The return mode is set. A transmission / reception mode of the distance measuring sensor 20A, 20B is switched to a first transmission / reception mode. Then, the processing returns to the general flow.

[0096] On the other hand, if the entry of the detection object into the trigger sub-zone 35 cannot be detected in step S13-1, the counter Nf is incremented by 1 in step S13-3, and then the controller 30 determines whether the counter Nf is greater than 20 or not in step S13-4. If the counter Nf is greater than 20, the processing proceeds to step S13-5, where the LEDs 28 are turned off, and the trigger mode is cleared, and at the same time, the counter Nf is cleared. Further, a transmission / reception mode of the distance measuring sensors 20A, 20B is switched to a first transmission / reception mode. Then, the processing returns to the general flow. On the other hand, if the counter Nf is less than 20, the processing skips step S13-5 and returns to the general flow. (Back mode)

[0097] As in Fig. As shown in Figure 14, in the return mode performed in step S15, the control unit 30 prompts a user to move away from the vehicle 1 and perform an operation to start opening or closing the door 4. When a control to open the door 4 is performed, an opening control of the door 4 is performed.

[0098] That is, the LEDs 28 flash in step S15-1. Then, in step S15-2, the controller 30 determines whether to perform opening control of the door 4 or closing control of the door 4 based on a current opening / closing state of the door 4. If closing control of the door 4 is selected, processing proceeds to step S15-3, where the return mode is canceled and a first return-exit mode is set. Then, processing returns to the general flow. On the other hand, if opening control of the door 4 is selected, processing proceeds to step S15-4.

[0099] In step S 15-4, the control unit 30 determines whether a detection object belongs to the start sub-zone 36 (for example, P 3 in Fig. 5) is moved back or not. If the detection object is moved back to the start sub-zone 36, the processing proceeds to step S15-5. On the other hand, if the detection object is not moved back to the start sub-zone 36, the processing proceeds to step S15-6.

[0100] In step S15-5, the control unit 30 drives the door opening and closing drive unit 12 to open the door 4 by outputting a door opening signal to the door opening and closing drive unit 12, and the LEDs 28 are turned off. Furthermore, the return mode is cleared. A counter Ng representing the number of times the detection object cannot be detected in the start sub-zone 36 is cleared. Then, the processing returns to the general flow. In such operations, the door 4 of the vehicle 1 is opened with respect to the vehicle body 2.

[0101] In step S15-6, the counter Ng is incremented by 1, and then the control unit 30 determines whether the counter Ng is greater than 20 or not in step S15-7. If the counter Ng is greater than 20, processing proceeds to step S15-8, where the LEDs 28 are turned off, the back mode is canceled, and the counter Ng is cleared. Then, processing returns to the general flow. On the other hand, if the counter Ng is less than 20, processing skips step S15-8 and returns to the general flow. (First Back Exit Mode)

[0102] As in Fig. 15, in the first return-exit mode, the controller 30 confirms whether a user moves away from the vehicle 1 or not.

[0103] That is, in step S 17-1, the control unit 30 determines whether or not a detection object is moved back to the first section 36 a of the start sub-zone 36 (for example, P 3 in Fig. 5). When the detection object is moved back to the first section 36a, processing proceeds to step S17-2, and the first return-termination mode is canceled. Furthermore, a counter Nh representing the number of times a detection object cannot be detected within the first part 36a is cleared. The second return-termination mode is set. Then, processing returns to the general flow.

[0104] On the other hand, if the detection object is not moved back to the first section 36a in step S17-1, the counter Nh is incremented by 1 in step S17-3, and then the controller 30 determines whether or not the counter Nh is greater than 20 in step S17-4. If the counter Nh is greater than 20, the processing proceeds to step S17-5, where the LEDs 28 are turned off, the first back-exit mode is canceled, and the counter Nh is cleared. Then, the processing returns to the general flow. On the other hand, if the counter Nh is less than 20, the processing skips step S17-5 and returns to the general flow. (Second Back Exit Mode)

[0105] As in Fig. 16, in the second return-termination mode, the controller 30 confirms whether or not a user moves away from the vehicle 1 to a safe position, and then the controller 30 performs an operation to close the door 4.

[0106] That is, in step S 19-1, the control device 30 determines whether a detection object belongs to the second section 36 b of the start sub-zone 36 (for example, P 4 in Fig. 5) is moved back or not. When the detection object is moved back to the second section 36b, the processing proceeds to step S19-2, where the control unit 30 drives the door opening and closing drive unit 12 to close the door 4 by outputting a signal to close the door 4, and the LEDs 28 are turned off. Further, the second return-termination mode is cleared, and a counter Ni representing the number of times a detection object cannot be detected within the second section 36b is cleared. Then, the processing returns to the general flow. In such operations, the door 4 of the vehicle 1 is closed with respect to the vehicle body 2.

[0107] On the other hand, if the detection object is not moved back to the second section 36b in step S19-1, the counter Ni is incremented by 1 in step S19-3, and then the control unit 30 determines whether the counter Ni is greater than 20 or not in step S19-4. If the counter Ni is greater than 20, the processing proceeds to step S19-5, where the LEDs 28 are turned off, the second back-exit mode is canceled, and the counter Ni is cleared. Then, the processing returns to the general flow. On the other hand, if the counter Ni is less than 20, the processing skips step S19-5 and returns to the general flow.

[0108] According to the door opening and closing device 10 having such a configuration as shown in Fig.As shown in Fig. 5, the movement of a user, which is a specific object to be detected, can be detected with certainty among a plurality of detection objects, including obstacles O 1 , O 2 . Further, opening control or closing control of the door 4 is performed upon detection of a fixed specified movement of a user, and therefore, an erroneous operation can be prevented with certainty, and at the same time, the convenience for a user can be significantly increased.

[0109] The door opening and closing device 10 of the present invention is characterized by the configuration in which the controller 30 performs opening / closing control of the door 4 based on the detection results D of the distance measuring sensors 20A, 20B and the stored information M in the storage part 30A. Other configurations of the door opening and closing device 10 of the present invention are not limited to the configurations in the embodiment, and various modifications are conceivable.

[0110] For example, the first and second (two) distance sensors 20A, 20B are arranged as the detection units. However, three or more distance measuring sensors may be arranged, or one distance measuring sensor may be arranged. Furthermore, the operation area 34 is divided into two operation detection sub-zones 35, 36. However, the operation area 34 may be divided into three or more operation detection sub-zones.

[0111] In the embodiment, the determination part 30e compares a difference between the detection result D and the stored information M with the threshold value T1, and—when the determination part 30e determines that the detection result D and the stored information M are substantially equal continuously for the set number of times—the detection object is determined as an object not to be detected. However, the determination part 30e may determine the detection object as an object not to be detected if the determination part 30e detects that the detection result D and the stored information M are substantially equal for a set period of time.Similarly, the determination part 30e may compare a difference between the detection result D and the obstacle information K with the threshold value T2, and if the determination part 30e determines that the detection result D and the obstacle information K are not substantially equal, this obstacle information may be excluded from the obstacle information K. Furthermore, the threshold values ​​T1 to T3—based on which it is determined whether a detection result and obstacle information are substantially equal to each other—may take different numerical values. Furthermore, a condition under which a detection object is determined as an object not to be detected by excluding a specific detection object from the obstacle information K is not limited to the set number of times or continuous detection for a set time, and may be combined with other detection conditions.

Claims

[1] Door opening and closing device (10), comprising the following: a door opening and closing drive unit (12) that is ready to open and close a door (4) in relation to a vehicle body (2); a detection unit (20A; 20B) configured to detect multiple detection objects within a detection area (R1; R2) defined around the door (4); a memory component (30a) configured to store a capture result of the plurality of capture objects captured by the capture unit (20A; 20B); a measuring part (30d) configured to measure a distance from the sensing unit (20A; 20B) to the sensing object based on the sensing result of the sensing unit (20A; 20B), wherein distance information of the sensing object measured by the measuring part (30d) is stored in the memory part (30a); a determination part (30e) configured to determine, based on a detection result of the detection unit (20A; 20B), the information stored in the memory part (30a), and a change value in the distance of the detection object, whether the detection object present in the detection area (R1; R2) is an object to be detected or an object not to be detected; and a control unit (30) configured to perform opening / closing control of the door (4) by the door opening and closing drive unit (12), wherein the control unit (30) performs the opening / closing control of the door (4) by the door opening and closing drive unit (12) only when the sensing unit (20A; 20B) detects a set movement of the sensing object, which is determined by the determining part (30e) as the object to be detected. [2] Door opening and closing device (10) according to claim 1, wherein distance information of the majority of detection objects present in the detection area (R1; R2) is stored in the memory part (30a). [3] Door opening and closing device (10) according to claim 1 or 2, wherein the determining part (30e) determines that the relevant detection object is not to be detected if a state is continuously detected in which a difference between a distance of the detection object measured by the measuring part (30d) and a distance information of the detection object stored in the memory part (30a) is less than a set threshold value. [4] Door opening and closing device (10) according to claim 3, wherein the determining part (30e) excludes a detection result of the detection object which the determining part (30e) continuously determines as the object not to be detected, and the determining part (30e) determines the object to be detected based on the detection result of other detection objects. [5] Door opening and closing device (10) according to claim 4, wherein the determining part (30e), if the distances of the majority of detection objects measured by the measuring part (30d) do not include distance information of the object not to be detected, which is to be excluded, sets the affected detection object as the object to be detected by excluding the affected detection object from the object not to be detected.

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